给你的Arduino加上"耳朵"和"嘴巴"之二:OTTO机器人蓝牙功能详解
做好了基础的OTTO机器人之后，很多朋友都想和这个萌宠互动，可是对于很多新手来讲，蓝牙模块的烧录以及程序文件的调试都是个麻烦事。其实，即使你不是学硬件和软件专业出身也同样可以玩转Arduino；只是，估计很多朋友跟我一样都是在业余时间玩，没有更多的时间查找资料和翻译英文文档，所以这里就给出大家一个简明的OTTO蓝牙模块教程。1. 硬件连接如图：2. 蓝牙模块可以选择HC-05或者HC-06，如果你想修改蓝牙模块默认的名称、密码和波特率就需要烧录。烧录代码如下：/*http://giltesa.com/?p=11738
09/08/2012
(CC) BY-NC-SA: giltesa.com
Modified by Pablo García pabloeweb@gmail.com for Otto DIY robot
ConfigBluetooth HC-06 from Arduino.
Change name, password and baud using serial port, with no user interaction.
1.- Upload this code to Arduino nano (no bluetooth module connected)
2.- unplug USB
3.- Connect HC-06
4.- Power arduino from external power.
5.- Wait for the Arduino´s onboard led to start blinking
6.- Disconnect power. Everything is done.
After upload code you have 10 seconds to connect the module
BT ---- Arduino
TX ----> RX
RX <---- TX
Once the LED off configuration will start and at the end LED will blink
After this you can pair your module
*/
// Options:
int ArduLED=13; //Internal Arduino´s LED
char ssid = "Zowi"; // Name for Bluetooth.
char baudios = '8'; // 1=>1200 baudios, 2=>2400, 3=>4800, 4=>9600 (default), 5=>19200, 6=>38400, 7=>57600, 8=>115200
char password = "1234"; // Password for pairing
void setup()
{
Serial.begin(9600); //9600bauds is the deafult baudrate for these modules.
//if it´s not working try changing this baudrate to match your HC-06 initial setup
// Waiting time (10 seconds) onboard LED is ON:
pinMode(ArduLED,OUTPUT);
digitalWrite(ArduLED,HIGH);
delay(10000);
digitalWrite(ArduLED,LOW);
Serial.print("AT"); delay(1000); // Now configuration start
Serial.print("AT+NAME"); Serial.print(ssid); delay(1000); // Change Name of BT
Serial.print("AT+BAUD"); Serial.print(baudios); delay(1000); // Change Baud
Serial.print("AT+PIN"); Serial.print(password); delay(1000); // Change Password
}
void loop()
{
// After programing bluetooth, onboard LED will Blink.
digitalWrite(ArduLED, !digitalRead(ArduLED));
delay(500);
}
我翻译一下烧录过程：（1）上传这段代码（HC05_BT_config.ino或HC06_BT_config.ino）至Arduino nano（注意这时不要连接蓝牙模块）；（2）拔下USB线；（3）连接HC-05或者HC-06模块；（4）用外接电源给Arduino通电；（5）等待Arduino板的LED灯直到开始闪烁；（6）拔下电源，就一切OK了。另外，默认设置是Arduino板等待10秒开始烧录，接线方式如下：BT ---- ArduinoTX ----> RXRX <---- TX当然还需要连接电源线。Arduino板上LED灯灭的时候配置开始，配置结束后LED灯开始闪烁，这时你就可以使用你的蓝牙模块了。3. Arduino nano板上的烧录。Otto官网上的例子很多，我用的是smooth_criminal，注意需要把Oscillator文件夹拷贝到你的Arduino IDE里的libraries文件夹下（同时需要重新启动IDE，不然会提示找不到库文件）。
此外，smooth_criminal里没有整合蓝牙功能，所以需要加入蓝牙模块的控制代码，你可以从otto官网上的代码中获取灵感，也可以直接使用下面的代码烧录：//----------------------------------------------------------------
//-- OTTO Dance smooth criminal
//-- Released under a GPL licencse
//-- Originally made for Zowi project remake for Otto
//-- Authors:Javier Isabel:javier.isabel@bq.com
//-- Juan Gonzalez (obijuan): juan.gonzalez@bq.com
//-----------------------------------------------------------------
#include <Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
#include <SoftwareSerial.h>
#define N_SERVOS 4
//-- First step: Configure the pins where the servos are attached
/*
---------------
| O O |
|---------------|
YR 3==> | | <== YL 2
---------------
|| ||
|| ||
RR 5==> ----- ------<== RL 4
|----- ------|
*/
#define EEPROM_TRIM false
// Activate to take callibration data from internal memory
#define TRIM_RR 7
#define TRIM_RL 4
#define TRIM_YR4
#define TRIM_YL -7
//OTTO.setTrims(-7,-4,-4,7);
#define PIN_RR 5
#define PIN_RL 4
#define PIN_YR 3
#define PIN_YL 2
#define INTERVALTIME 10.0
SoftwareSerial BT(6, 7);//新建对象，接收脚为6，发送脚为7
char val;//存储接收的变量
String string;
char command;
Oscillator servo;
void goingUp(int tempo);
void drunk (int tempo);
void noGravity(int tempo);
void kickLeft(int tempo);
void kickRight(int tempo);
void run(int steps, int T=500);
void walk(int steps, int T=1000);
void backyard(int steps, int T=3000);
void backyardSlow(int steps, int T=5000);
void turnLeft(int steps, int T=3000);
void turnRight(int steps, int T=3000);
void moonWalkLeft(int steps, int T=1000);
void moonWalkRight(int steps, int T=1000);
void crusaito(int steps, int T=1000);
void swing(int steps, int T=1000);
void upDown(int steps, int T=1000);
void flapping(int steps, int T=1000);
void setup()
{
Serial.begin(19200);
BT.begin(115200);//设置波特率
servo.attach(PIN_RR);
servo.attach(PIN_RL);
servo.attach(PIN_YR);
servo.attach(PIN_YL);
//EEPROM.write(0,TRIM_RR);
//EEPROM.write(1,TRIM_RL);
//EEPROM.write(2,TRIM_YR);
//EEPROM.write(3,TRIM_YL);
int trim;
if(EEPROM_TRIM){
for(int x=0;x<4;x++){
trim=EEPROM.read(x);
if(trim>128)trim=trim-256;
Serial.print("TRIM ");
Serial.print(x);
Serial.print(" en ");
Serial.println(trim);
servo.SetTrim(trim);
}
}
else{
servo.SetTrim(TRIM_RR);
servo.SetTrim(TRIM_RL);
servo.SetTrim(TRIM_YR);
servo.SetTrim(TRIM_YL);
}
for(int i=0;i<4;i++) servo.SetPosition(90);
}
// TEMPO: 121 BPM
int t=495;
double pause=0;
void loop()
{
if (BT.available() > 0)
{string = "";}
while(BT.available() > 0)
{
command = ((byte)BT.read());
if(command == ':')
{
break;
}
else
{
string += command;
}
delay(1);
}
if(string == "TO")
{
dance();
}
if(string =="TF")
{
for(int i=0;i<4;i++) servo.SetPosition(90);
}
for(int i=0;i<4;i++) servo.SetPosition(90);
}
void dance(){
//primera_parte();
segunda_parte();
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
primera_parte();
crusaito(1,t*8);
crusaito(1,t*7);
for (int i=0; i<16; i++){
flapping(1,t/4);
delay(3*t/4);
}
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);
moonWalkRight(4,t*2);
moonWalkLeft(4,t*2);
drunk(t*4);
drunk(t*4);
drunk(t*4);
drunk(t*4);
kickLeft(t);
kickRight(t);
drunk(t*8);
drunk(t*4);
drunk(t/2);
delay(t*4);
drunk(t/2);
delay(t*4);
walk(2,t*2);
backyard(2,t*2);
goingUp(t*2);
goingUp(t*1);
noGravity(t*2);
crusaito(1,t*2);
crusaito(1,t*8);
crusaito(1,t*2);
crusaito(1,t*8);
crusaito(1,t*2);
crusaito(1,t*3);
delay(t);
primera_parte();
for (int i=0; i<32; i++){
flapping(1,t/2);
delay(t/2);
}
for(int i=0;i<4;i++) servo.SetPosition(90);
}
////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////FUNCIONES DE CONTROL//////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////
void oscillate(int A, int O, int T, double phase_diff){
for (int i=0; i<4; i++) {
servo.SetO(O);
servo.SetA(A);
servo.SetT(T);
servo.SetPh(phase_diff);
}
double ref=millis();
for (double x=ref; x<T+ref; x=millis()){
for (int i=0; i<4; i++){
servo.refresh();
}
}
}
unsigned long final_time;
unsigned long interval_time;
int oneTime;
int iteration;
float increment;
int oldPosition[]={90,90,90,90};
void moveNServos(int time, intnewPosition[]){
for(int i=0;i<N_SERVOS;i++)increment = ((newPosition)-oldPosition)/(time/INTERVALTIME);
final_time =millis() + time;
iteration = 1;
while(millis() < final_time){ //Javi del futuro cambia esto
interval_time = millis()+INTERVALTIME;
oneTime=0;
while(millis()<interval_time){
if(oneTime<1){
for(int i=0;i<N_SERVOS;i++){
servo.SetPosition(oldPosition + (iteration * increment));
}
iteration++;
oneTime++;
}
}
}
for(int i=0;i<N_SERVOS;i++){
oldPosition = newPosition;
}
}
//////////////////////////////////////////////////////////////////////////////
////////////////////////////////PASOS DE BAILE////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
void goingUp(int tempo){
pause=millis();
for(int i=0;i<4;i++) servo.SetPosition(90);
delay(tempo);
servo.SetPosition(80);
servo.SetPosition(100);
delay(tempo);
servo.SetPosition(70);
servo.SetPosition(110);
delay(tempo);
servo.SetPosition(60);
servo.SetPosition(120);
delay(tempo);
servo.SetPosition(50);
servo.SetPosition(130);
delay(tempo);
servo.SetPosition(40);
servo.SetPosition(140);
delay(tempo);
servo.SetPosition(30);
servo.SetPosition(150);
delay(tempo);
servo.SetPosition(20);
servo.SetPosition(160);
delay(tempo);
while(millis()<pause+8*t);
}
void primera_parte(){
int move1 = {60,120,90,90};
int move2 = {90,90,90,90};
int move3 = {40,140,90,90};
for(int x=0; x<3; x++){
for(int i=0; i<3; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
pause=millis();
for(int i=0;i<4;i++) servo.SetPosition(90);
moveNServos(t*0.4,move1);
moveNServos(t*0.4,move2);
while(millis()<(pause+t*2));
}
for(int i=0; i<2; i++){
lateral_fuerte(1,t/2);
lateral_fuerte(0,t/4);
lateral_fuerte(1,t/4);
delay(t);
}
pause=millis();
for(int i=0;i<4;i++) servo.SetPosition(90);
crusaito(1,t*1.4);
moveNServos(t*1,move3);
for(int i=0;i<4;i++) servo.SetPosition(90);
while(millis()<(pause+t*4));
}
void segunda_parte(){
int move1 = {90,90,80,100};
int move2 = {90,90,100,80};
int move3 = {90,90,80,100};
int move4 = {90,90,100,80};
int move5 = {40,140,80,100};
int move6 = {40,140,100,80};
int move7 = {90,90,80,100};
int move8 = {90,90,100,80};
int move9 = {40,140,80,100};
int move10 = {40,140,100,80};
int move11 = {90,90,80,100};
int move12 = {90,90,100,80};
for(int x=0; x<7; x++){
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move1);
moveNServos(t*0.15,move2);
moveNServos(t*0.15,move3);
moveNServos(t*0.15,move4);
while(millis()<(pause+t));
}
pause=millis();
moveNServos(t*0.15,move5);
moveNServos(t*0.15,move6);
moveNServos(t*0.15,move7);
moveNServos(t*0.15,move8);
while(millis()<(pause+t));
}
for(int i=0; i<3; i++){
pause=millis();
moveNServos(t*0.15,move9);
moveNServos(t*0.15,move10);
moveNServos(t*0.15,move11);
moveNServos(t*0.15,move12);
while(millis()<(pause+t));
}
}
void lateral_fuerte(boolean side, int tempo){
for(int i=0;i<4;i++) servo.SetPosition(90);
if (side) servo.SetPosition(40);
else servo.SetPosition(140);
delay(tempo/2);
servo.SetPosition(90);
servo.SetPosition(90);
delay(tempo/2);
}
void drunk (int tempo){
pause=millis();
int move1[] = {60,70,90,90};
int move2[] = {110,120,90,90};
int move3[] = {60,70,90,90};
int move4[] = {110,120,90,90};
moveNServos(tempo*0.235,move1);
moveNServos(tempo*0.235,move2);
moveNServos(tempo*0.235,move3);
moveNServos(tempo*0.235,move4);
while(millis()<(pause+tempo));
}
void noGravity(int tempo){
int move1 = {120,140,90,90};
int move2 = {140,140,90,90};
int move3 = {120,140,90,90};
int move4 = {90,90,90,90};
for(int i=0;i<4;i++) servo.SetPosition(90);
for(int i=0;i<N_SERVOS;i++) oldPosition=90;
moveNServos(tempo*2,move1);
moveNServos(tempo*2,move2);
delay(tempo*2);
moveNServos(tempo*2,move3);
moveNServos(tempo*2,move4);
}
void kickLeft(int tempo){
for(int i=0;i<4;i++) servo.SetPosition(90);
delay(tempo);
servo.SetPosition(50); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo);
servo.SetPosition(80); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo/4);
servo.SetPosition(30); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo/4);
servo.SetPosition(80); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo/4);
servo.SetPosition(30); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo/4);
servo.SetPosition(80); //pie derecho
servo.SetPosition(70); //pie izquiero
delay(tempo);
}
void kickRight(int tempo){
for(int i=0;i<4;i++) servo.SetPosition(90);
delay(tempo);
servo.SetPosition(110); //pie derecho
servo.SetPosition(130); //pie izquiero
delay(tempo);
servo.SetPosition(110); //pie derecho
servo.SetPosition(100); //pie izquiero
delay(tempo/4);
servo.SetPosition(110); //pie derecho
servo.SetPosition(150); //pie izquiero
delay(tempo/4);
servo.SetPosition(110); //pie derecho
servo.SetPosition(80); //pie izquiero
delay(tempo/4);
servo.SetPosition(110); //pie derecho
servo.SetPosition(150); //pie izquiero
delay(tempo/4);
servo.SetPosition(110); //pie derecho
servo.SetPosition(100); //pie izquiero
delay(tempo);
}
void walk(int steps, int T){
int A= {15, 15, 30, 30};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void run(int steps, int T){
int A= {10, 10, 10, 10};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyard(int steps, int T){
int A= {15, 15, 30, 30};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void backyardSlow(int steps, int T){
int A= {15, 15, 30, 30};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnLeft(int steps, int T){
int A= {20, 20, 10, 30};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void turnRight(int steps, int T){
int A= {20, 20, 30, 10};
int O = {0, 0, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkRight(int steps, int T){
int A= {25, 25, 0, 0};
int O = {-15 ,15, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void moonWalkLeft(int steps, int T){
int A= {25, 25, 0, 0};
int O = {-15, 15, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void crusaito(int steps, int T){
int A= {25, 25, 30, 30};
int O = {- 15, 15, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void swing(int steps, int T){
int A= {25, 25, 0, 0};
int O = {-15, 15, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void upDown(int steps, int T){
int A= {25, 25, 0, 0};
int O = {-15, 15, 0, 0};
double phase_diff = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void flapping(int steps, int T){
int A= {15, 15, 8, 8};
int O = {-A, A, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}
void test(int steps, int T){
int A= {15, 15, 8, 8};
int O = {-A + 10, A - 10, 0, 0};
double phase_diff = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};
for(int i=0;i<steps;i++)oscillate(A,O, T, phase_diff);
}硬件完成之后就简单了，找个好用的app吧，你可以用官网的app，也可以用下面这个简单超酷的模拟游戏手柄界面的app（Arduino bluetooth controller，你可以在Google Play Store下载，也可以在文末的百度网盘地址下载）：使用前做一个简单的配置，选择一个按键发送指令，在Arduino里我们烧录的指令是“TO”，所以我就选择一个按钮设置成”TO”。既然是DIY，其他的指令和动作就需要你自己动手完成了，如果想加上语音识别和语音合成，就安装好“叮当6号”app，并设置好对应的配置文件：{
"send":[
{"id":1,"listen":"打开","action":"TO","mode":"0","speak":"好的,已打开"},
{"id":2,"listen":"关闭","action":"TF","mode":"0","speak":"好的,已关闭"},
{"id":3,"listen":"你好","action":"","mode":"4","speak":"你好,很高兴认识你"},
{"id":4,"listen":"跳个舞","action":"TO","mode":"9","speak":"test.wav"}
]
}
其中listen是你说话发出的指令，action就是对应刚才提到的Arduino烧录的指令，mode里0-4对应着发言“男声”、“女声”、“童声”等（9对应播放的mp3文件，需要和app.txt在同一目录下），speak则是你想让otto说的话（需要注意文本需要使用notepad++等编辑器，且保存格式是UTF-8无BOM；同时还要注意所有标点符号都是英文标点符号，即半码格式）。接下来就是欣赏你的作品了：视频地址：http://v.youku.com/v_show/id_XMzQ4ODc3NTc0MAhttp://v.youku.com/v_show/id_XMzQ4ODc3NTc0MA.html资料下载地址：https://pan.baidu.com/s/19Lzt8RYCNRsSsUndrGsITw
编译你这个smooth_criminal里有整合蓝牙功能的代码 这副模样 是什么回事呀 otto bluetooth 学习一下，谢谢 特 发表于 2018-9-10 19:28
编译你这个smooth_criminal里有整合蓝牙功能的代码 这副模样 是什么回事呀
我也是
资料可以共享一下吗？ 老师：网盘链接不存在了。
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